Al-Dahiree, Omar Sabah and Ghazilla, Raja Ariffin Raja and Tokhi, Mohammad Osman and Yap, Hwa Jen and Gul, Mustabshirha (2023) Design and characterization of a low-cost and efficient torsional spring for ES-RSEA. Sensors, 23 (7). ISSN 1424-8220, DOI https://doi.org/10.3390/s23073705.
Full text not available from this repository.Abstract
The design of torsional springs for series elastic actuators (SEAs) is challenging, especially when balancing good stiffness characteristics and efficient torque robustness. This study focuses on the design of a lightweight, low-cost, and compact torsional spring for use in the energy storage-rotary series elastic actuator (ES-RSEA) of a lumbar support exoskeleton. The exoskeleton is used as an assistive device to prevent lower back injuries. The torsion spring was designed following design for manufacturability (DFM) principles, focusing on minimal space and weight. The design process involved determining the potential topology and optimizing the selected topology parameters through the finite element method (FEM) to reduce equivalent stress. The prototype was made using a waterjet cutting process with a low-cost material (AISI-4140-alloy) and tested using a custom-made test rig. The results showed that the torsion spring had a linear torque-displacement relationship with 99% linearity, and the deviation between FEM simulation and experimental measurements was less than 2%. The torsion spring has a maximum torque capacity of 45.7 Nm and a 440 Nm/rad stiffness. The proposed torsion spring is a promising option for lumbar support exoskeletons and similar applications requiring low stiffness, low weight-to-torque ratio, and cost-effectiveness.
| Item Type: | Article |
|---|---|
| Funders: | UNSPECIFIED |
| Uncontrolled Keywords: | force sensor; series elastic actuator; SEA; torsion spring; lumbar support; wearable robot exoskeleton; lifting task |
| Subjects: | Q Science > QD Chemistry T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Faculty of Engineering > Department of Mechanical Engineering |
| Depositing User: | Ms Zaharah Ramly |
| Date Deposited: | 23 Nov 2023 08:07 |
| Last Modified: | 23 Nov 2023 08:07 |
| URI: | http://eprints.um.edu.my/id/eprint/38323 |
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